Paparazzi UAS
v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
common_board.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2022 Freek van Tienen <freek.v.tienen@gmail.com>
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*
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* This file is part of Paparazzi.
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*
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* Paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* Paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#ifndef ARCH_COMMON_BOARD_H
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#define ARCH_COMMON_BOARD_H
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#include "board.h"
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/*
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* Concat macro
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*/
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#define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2
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#define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)
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/*
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* LEDs
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*/
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#if defined(LINE_LED1)
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#ifndef USE_LED_1
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#define USE_LED_1 1
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#endif
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#define LED_1_GPIO PAL_PORT(LINE_LED1)
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#define LED_1_GPIO_PIN PAL_PAD(LINE_LED1)
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#define LED_1_GPIO_ON gpio_clear
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#define LED_1_GPIO_OFF gpio_set
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#endif
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#if defined(LINE_LED2)
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#ifndef USE_LED_2
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#define USE_LED_2 1
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#endif
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#define LED_2_GPIO PAL_PORT(LINE_LED2)
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#define LED_2_GPIO_PIN PAL_PAD(LINE_LED2)
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#define LED_2_GPIO_ON gpio_clear
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#define LED_2_GPIO_OFF gpio_set
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#endif
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#if defined(LINE_LED3)
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#ifndef USE_LED_3
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#define USE_LED_3 1
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#endif
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#define LED_3_GPIO PAL_PORT(LINE_LED3)
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#define LED_3_GPIO_PIN PAL_PAD(LINE_LED3)
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#define LED_3_GPIO_ON gpio_clear
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#define LED_3_GPIO_OFF gpio_set
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#endif
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#if defined(LINE_LED4)
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#ifndef USE_LED_4
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#define USE_LED_4 1
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#endif
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#define LED_4_GPIO PAL_PORT(LINE_LED4)
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#define LED_4_GPIO_PIN PAL_PAD(LINE_LED4)
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#define LED_4_GPIO_ON gpio_clear
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#define LED_4_GPIO_OFF gpio_set
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#endif
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/*
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* ADCs
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*/
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#if defined(LINE_ADC1)
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#ifndef USE_ADC_1
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#define USE_ADC_1 1
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#endif
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#if USE_ADC_1
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#if defined(ADC1_ADC_IN)
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#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC1_ADC_IN)
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#elif defined(ADC1_ADC_INP)
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#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC1_ADC_INP)
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#endif
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#define ADC_1 AD1_1
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#define ADC_1_GPIO_PORT PAL_PORT(LINE_ADC1)
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#define ADC_1_GPIO_PIN PAL_PAD(LINE_ADC1)
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#endif
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#endif
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#if defined(LINE_ADC2)
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#ifndef USE_ADC_2
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#define USE_ADC_2 1
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#endif
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#if USE_ADC_2
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#if defined(ADC2_ADC_IN)
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#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC2_ADC_IN)
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#elif defined(ADC2_ADC_INP)
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#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC2_ADC_INP)
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#endif
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#define ADC_2 AD1_2
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#define ADC_2_GPIO_PORT PAL_PORT(LINE_ADC2)
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#define ADC_2_GPIO_PIN PAL_PAD(LINE_ADC2)
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#endif
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#endif
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#if defined(LINE_ADC3)
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#ifndef USE_ADC_3
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#define USE_ADC_3 1
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#endif
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#if USE_ADC_3
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#if defined(ADC3_ADC_IN)
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#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC3_ADC_IN)
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#elif defined(ADC3_ADC_INP)
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#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC3_ADC_INP)
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#endif
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#define ADC_3 AD1_3
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#define ADC_3_GPIO_PORT PAL_PORT(LINE_ADC3)
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#define ADC_3_GPIO_PIN PAL_PAD(LINE_ADC3)
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#endif
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#endif
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#if defined(LINE_ADC4)
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#ifndef USE_ADC_4
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#define USE_ADC_4 1
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#endif
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#if USE_ADC_4
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#if defined(ADC4_ADC_IN)
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#define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC4_ADC_IN)
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#elif defined(ADC4_ADC_INP)
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#define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC4_ADC_INP)
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#endif
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#define ADC_4 AD1_4
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#define ADC_4_GPIO_PORT PAL_PORT(LINE_ADC4)
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#define ADC_4_GPIO_PIN PAL_PAD(LINE_ADC4)
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#endif
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#endif
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#if defined(LINE_ADC5)
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#ifndef USE_ADC_5
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#define USE_ADC_5 1
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#endif
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#if USE_ADC_5
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#if defined(ADC5_ADC_IN)
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#define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC5_ADC_IN)
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#elif defined(ADC5_ADC_INP)
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#define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC5_ADC_INP)
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#endif
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#define ADC_5 AD1_5
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#define ADC_5_GPIO_PORT PAL_PORT(LINE_ADC5)
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#define ADC_5_GPIO_PIN PAL_PAD(LINE_ADC5)
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#endif
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#endif
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#if defined(LINE_ADC6)
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#if USE_ADC_6
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#if defined(ADC6_ADC_IN)
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#define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC6_ADC_IN)
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#elif defined(ADC6_ADC_INP)
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#define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC6_ADC_INP)
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#endif
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#define ADC_6 AD1_6
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#define ADC_6_GPIO_PORT PAL_PORT(LINE_ADC6)
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#define ADC_6_GPIO_PIN PAL_PAD(LINE_ADC6)
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#endif
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#endif
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/*
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* PWM defines
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*/
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#if defined(LINE_SERVO1)
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#ifndef USE_PWM1
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#define USE_PWM1 1
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#endif
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#if USE_PWM1
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#define PWM_SERVO_1 0
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#define PWM_SERVO_1_GPIO PAL_PORT(LINE_SERVO1)
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#define PWM_SERVO_1_PIN PAL_PAD(LINE_SERVO1)
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#define PWM_SERVO_1_AF AF_LINE_SERVO1
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#define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)
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#define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)
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#define PWM_SERVO_1_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO2)
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#ifndef USE_PWM2
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#define USE_PWM2 1
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#endif
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#if USE_PWM2
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#define PWM_SERVO_2 1
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#define PWM_SERVO_2_GPIO PAL_PORT(LINE_SERVO2)
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#define PWM_SERVO_2_PIN PAL_PAD(LINE_SERVO2)
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#define PWM_SERVO_2_AF AF_LINE_SERVO2
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#define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)
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#define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)
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#define PWM_SERVO_2_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO3)
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#ifndef USE_PWM3
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#define USE_PWM3 1
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#endif
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#if USE_PWM3
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#define PWM_SERVO_3 2
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#define PWM_SERVO_3_GPIO PAL_PORT(LINE_SERVO3)
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#define PWM_SERVO_3_PIN PAL_PAD(LINE_SERVO3)
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#define PWM_SERVO_3_AF AF_LINE_SERVO3
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#define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)
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#define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)
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#define PWM_SERVO_3_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO4)
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#ifndef USE_PWM4
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#define USE_PWM4 1
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#endif
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#if USE_PWM4
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#define PWM_SERVO_4 3
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#define PWM_SERVO_4_GPIO PAL_PORT(LINE_SERVO4)
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#define PWM_SERVO_4_PIN PAL_PAD(LINE_SERVO4)
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#define PWM_SERVO_4_AF AF_LINE_SERVO4
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#define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)
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#define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)
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#define PWM_SERVO_4_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO5)
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#ifndef USE_PWM5
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#define USE_PWM5 1
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#endif
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#if USE_PWM5
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#define PWM_SERVO_5 4
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#define PWM_SERVO_5_GPIO PAL_PORT(LINE_SERVO5)
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#define PWM_SERVO_5_PIN PAL_PAD(LINE_SERVO5)
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#define PWM_SERVO_5_AF AF_LINE_SERVO5
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#define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)
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#define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)
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#define PWM_SERVO_5_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO6)
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#ifndef USE_PWM6
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#define USE_PWM6 1
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#endif
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#if USE_PWM6
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#define PWM_SERVO_6 5
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#define PWM_SERVO_6_GPIO PAL_PORT(LINE_SERVO6)
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#define PWM_SERVO_6_PIN PAL_PAD(LINE_SERVO6)
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#define PWM_SERVO_6_AF AF_LINE_SERVO6
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#define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)
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#define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)
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#define PWM_SERVO_6_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO7)
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#ifndef USE_PWM7
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#define USE_PWM7 1
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#endif
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#if USE_PWM7
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#define PWM_SERVO_7 6
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#define PWM_SERVO_7_GPIO PAL_PORT(LINE_SERVO7)
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#define PWM_SERVO_7_PIN PAL_PAD(LINE_SERVO7)
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#define PWM_SERVO_7_AF AF_LINE_SERVO7
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#define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO7_TIM)
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#define PWM_SERVO_7_CHANNEL (SERVO7_TIM_CH-1)
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#define PWM_SERVO_7_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO7_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO8)
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#ifndef USE_PWM8
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#define USE_PWM8 1
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#endif
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#if USE_PWM8
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#define PWM_SERVO_8 7
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#define PWM_SERVO_8_GPIO PAL_PORT(LINE_SERVO8)
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#define PWM_SERVO_8_PIN PAL_PAD(LINE_SERVO8)
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#define PWM_SERVO_8_AF AF_LINE_SERVO8
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#define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO8_TIM)
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#define PWM_SERVO_8_CHANNEL (SERVO8_TIM_CH-1)
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#define PWM_SERVO_8_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO8_TIM)
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#endif
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#endif
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#if defined(LINE_UART1_TX)
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#define UART1_GPIO_PORT_TX PAL_PORT(LINE_UART1_TX)
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#define UART1_GPIO_TX PAL_PAD(LINE_UART1_TX)
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#endif
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#if defined(LINE_UART1_RX)
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#define UART1_GPIO_PORT_RX PAL_PORT(LINE_UART1_RX)
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#define UART1_GPIO_RX PAL_PAD(LINE_UART1_RX)
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#endif
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#if defined(AF_LINE_UART1_TX)
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#define UART1_GPIO_AF AF_LINE_UART1_TX
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#elif defined(AF_LINE_UART1_RX)
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#define UART1_GPIO_AF AF_LINE_UART1_RX
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#else
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#define UART1_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART2_TX)
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#define UART2_GPIO_PORT_TX PAL_PORT(LINE_UART2_TX)
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#define UART2_GPIO_TX PAL_PAD(LINE_UART2_TX)
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#endif
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#if defined(LINE_UART2_RX)
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#define UART2_GPIO_PORT_RX PAL_PORT(LINE_UART2_RX)
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#define UART2_GPIO_RX PAL_PAD(LINE_UART2_RX)
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#endif
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#if defined(AF_LINE_UART2_TX)
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#define UART2_GPIO_AF AF_LINE_UART2_TX
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#elif defined(AF_LINE_UART2_RX)
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#define UART2_GPIO_AF AF_LINE_UART2_RX
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#else
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#define UART2_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART3_TX)
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#define UART3_GPIO_PORT_TX PAL_PORT(LINE_UART3_TX)
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#define UART3_GPIO_TX PAL_PAD(LINE_UART3_TX)
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#endif
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#if defined(LINE_UART3_RX)
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#define UART3_GPIO_PORT_RX PAL_PORT(LINE_UART3_RX)
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#define UART3_GPIO_RX PAL_PAD(LINE_UART3_RX)
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#endif
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#if defined(AF_LINE_UART3_TX)
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#define UART3_GPIO_AF AF_LINE_UART3_TX
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#elif defined(AF_LINE_UART3_RX)
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#define UART3_GPIO_AF AF_LINE_UART3_RX
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#else
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#define UART3_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART4_TX)
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#define UART4_GPIO_PORT_TX PAL_PORT(LINE_UART4_TX)
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#define UART4_GPIO_TX PAL_PAD(LINE_UART4_TX)
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#endif
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#if defined(LINE_UART4_RX)
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#define UART4_GPIO_PORT_RX PAL_PORT(LINE_UART4_RX)
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#define UART4_GPIO_RX PAL_PAD(LINE_UART4_RX)
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#endif
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#if defined(AF_LINE_UART4_TX)
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#define UART4_GPIO_AF AF_LINE_UART4_TX
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#elif defined(AF_LINE_UART4_RX)
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#define UART4_GPIO_AF AF_LINE_UART4_RX
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#else
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#define UART4_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART5_TX)
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#define UART5_GPIO_PORT_TX PAL_PORT(LINE_UART5_TX)
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#define UART5_GPIO_TX PAL_PAD(LINE_UART5_TX)
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#endif
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#if defined(LINE_UART5_RX)
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#define UART5_GPIO_PORT_RX PAL_PORT(LINE_UART5_RX)
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#define UART5_GPIO_RX PAL_PAD(LINE_UART5_RX)
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#endif
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#if defined(AF_LINE_UART5_TX)
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#define UART5_GPIO_AF AF_LINE_UART5_TX
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#elif defined(AF_LINE_UART5_RX)
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#define UART5_GPIO_AF AF_LINE_UART5_RX
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#else
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#define UART5_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART6_TX)
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#define UART6_GPIO_PORT_TX PAL_PORT(LINE_UART6_TX)
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#define UART6_GPIO_TX PAL_PAD(LINE_UART6_TX)
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#endif
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#if defined(LINE_UART6_RX)
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#define UART6_GPIO_PORT_RX PAL_PORT(LINE_UART6_RX)
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#define UART6_GPIO_RX PAL_PAD(LINE_UART6_RX)
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#endif
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#if defined(AF_LINE_UART6_TX)
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#define UART6_GPIO_AF AF_LINE_UART6_TX
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#elif defined(AF_LINE_UART6_RX)
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#define UART6_GPIO_AF AF_LINE_UART6_RX
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#else
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#define UART6_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART7_TX)
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#define UART7_GPIO_PORT_TX PAL_PORT(LINE_UART7_TX)
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#define UART7_GPIO_TX PAL_PAD(LINE_UART7_TX)
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#endif
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#if defined(LINE_UART7_RX)
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#define UART7_GPIO_PORT_RX PAL_PORT(LINE_UART7_RX)
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#define UART7_GPIO_RX PAL_PAD(LINE_UART7_RX)
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#endif
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#if defined(AF_LINE_UART7_TX)
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#define UART7_GPIO_AF AF_LINE_UART7_TX
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#elif defined(AF_LINE_UART7_RX)
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#define UART7_GPIO_AF AF_LINE_UART7_RX
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#else
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#define UART7_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART8_TX)
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#define UART8_GPIO_PORT_TX PAL_PORT(LINE_UART8_TX)
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#define UART8_GPIO_TX PAL_PAD(LINE_UART8_TX)
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#endif
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#if defined(LINE_UART8_RX)
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#define UART8_GPIO_PORT_RX PAL_PORT(LINE_UART8_RX)
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#define UART8_GPIO_RX PAL_PAD(LINE_UART8_RX)
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#endif
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#if defined(AF_LINE_UART8_TX)
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#define UART8_GPIO_AF AF_LINE_UART8_TX
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#elif defined(AF_LINE_UART8_RX)
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#define UART8_GPIO_AF AF_LINE_UART8_RX
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#else
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#define UART8_GPIO_AF ((void)0)
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#endif
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// Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
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#define STM32_CR1_DNF(n) ((n & 0x0f) << 8)
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// Timing register
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#define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(0U) | \
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STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \
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STM32_TIMINGR_SCLH(34U) | STM32_TIMINGR_SCLL(86U))
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#define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(1U) | \
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STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \
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STM32_TIMINGR_SCLH(105U) | STM32_TIMINGR_SCLL(153U))
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#ifndef I2C1_CLOCK_SPEED
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#define I2C1_CLOCK_SPEED 400000
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#endif
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#if I2C1_CLOCK_SPEED == 400000
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#define I2C1_CFG_DEF { \
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.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#elif I2C1_CLOCK_SPEED == 100000
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#define I2C1_CFG_DEF { \
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.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#else
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#error "Unknown I2C1 clock speed"
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#endif
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#ifndef I2C2_CLOCK_SPEED
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#define I2C2_CLOCK_SPEED 400000
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#endif
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#if I2C2_CLOCK_SPEED == 400000
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#define I2C2_CFG_DEF { \
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.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#elif I2C2_CLOCK_SPEED == 100000
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#define I2C2_CFG_DEF { \
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.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#else
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#error "Unknown I2C2 clock speed"
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#endif
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#ifndef I2C3_CLOCK_SPEED
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#define I2C3_CLOCK_SPEED 400000
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#endif
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#if I2C3_CLOCK_SPEED == 400000
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#define I2C3_CFG_DEF { \
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.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#elif I2C3_CLOCK_SPEED == 100000
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#define I2C3_CFG_DEF { \
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.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#else
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#error "Unknown I2C3 clock speed"
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#endif
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#ifndef I2C4_CLOCK_SPEED
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#define I2C4_CLOCK_SPEED 400000
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#endif
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#if I2C4_CLOCK_SPEED == 400000
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#define I2C4_CFG_DEF { \
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.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#elif I2C4_CLOCK_SPEED == 100000
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#define I2C4_CFG_DEF { \
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.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
521
.cr1 = STM32_CR1_DNF(0), \
522
.cr2 = 0 \
523
}
524
#else
525
#error "Unknown I2C4 clock speed"
526
#endif
527
531
#if defined(LINE_SPI1_MISO) && defined(LINE_SPI1_MOSI) && defined(LINE_SPI1_SCK)
532
#define SPI1_GPIO_PORT_MISO PAL_PORT(LINE_SPI1_MISO)
533
#define SPI1_GPIO_MISO PAL_PAD(LINE_SPI1_MISO)
534
#define SPI1_GPIO_PORT_MOSI PAL_PORT(LINE_SPI1_MOSI)
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#define SPI1_GPIO_MOSI PAL_PAD(LINE_SPI1_MOSI)
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#define SPI1_GPIO_PORT_SCK PAL_PORT(LINE_SPI1_SCK)
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#define SPI1_GPIO_SCK PAL_PAD(LINE_SPI1_SCK)
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539
#if defined(AF_LINE_SPI1_SCK)
540
#define SPI1_GPIO_AF AF_LINE_SPI1_SCK
541
#endif
542
#endif
543
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#if defined(LINE_SPI2_MISO) && defined(LINE_SPI2_MOSI) && defined(LINE_SPI2_SCK)
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#define SPI2_GPIO_PORT_MISO PAL_PORT(LINE_SPI2_MISO)
546
#define SPI2_GPIO_MISO PAL_PAD(LINE_SPI2_MISO)
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#define SPI2_GPIO_PORT_MOSI PAL_PORT(LINE_SPI2_MOSI)
548
#define SPI2_GPIO_MOSI PAL_PAD(LINE_SPI2_MOSI)
549
#define SPI2_GPIO_PORT_SCK PAL_PORT(LINE_SPI2_SCK)
550
#define SPI2_GPIO_SCK PAL_PAD(LINE_SPI2_SCK)
551
552
#if defined(AF_LINE_SPI2_SCK)
553
#define SPI2_GPIO_AF AF_LINE_SPI2_SCK
554
#endif
555
#endif
556
557
#if defined(LINE_SPI3_MISO) && defined(LINE_SPI3_MOSI) && defined(LINE_SPI3_SCK)
558
#define SPI3_GPIO_PORT_MISO PAL_PORT(LINE_SPI3_MISO)
559
#define SPI3_GPIO_MISO PAL_PAD(LINE_SPI3_MISO)
560
#define SPI3_GPIO_PORT_MOSI PAL_PORT(LINE_SPI3_MOSI)
561
#define SPI3_GPIO_MOSI PAL_PAD(LINE_SPI3_MOSI)
562
#define SPI3_GPIO_PORT_SCK PAL_PORT(LINE_SPI3_SCK)
563
#define SPI3_GPIO_SCK PAL_PAD(LINE_SPI3_SCK)
564
565
#if defined(AF_LINE_SPI3_SCK)
566
#define SPI3_GPIO_AF AF_LINE_SPI3_SCK
567
#endif
568
#endif
569
570
#if defined(LINE_SPI4_MISO) && defined(LINE_SPI4_MOSI) && defined(LINE_SPI4_SCK)
571
#define SPI4_GPIO_PORT_MISO PAL_PORT(LINE_SPI4_MISO)
572
#define SPI4_GPIO_MISO PAL_PAD(LINE_SPI4_MISO)
573
#define SPI4_GPIO_PORT_MOSI PAL_PORT(LINE_SPI4_MOSI)
574
#define SPI4_GPIO_MOSI PAL_PAD(LINE_SPI4_MOSI)
575
#define SPI4_GPIO_PORT_SCK PAL_PORT(LINE_SPI4_SCK)
576
#define SPI4_GPIO_SCK PAL_PAD(LINE_SPI4_SCK)
577
578
#if defined(AF_LINE_SPI4_SCK)
579
#define SPI4_GPIO_AF AF_LINE_SPI4_SCK
580
#endif
581
#endif
582
583
#if defined(LINE_SPI5_MISO) && defined(LINE_SPI5_MOSI) && defined(LINE_SPI5_SCK)
584
#define SPI5_GPIO_PORT_MISO PAL_PORT(LINE_SPI5_MISO)
585
#define SPI5_GPIO_MISO PAL_PAD(LINE_SPI5_MISO)
586
#define SPI5_GPIO_PORT_MOSI PAL_PORT(LINE_SPI5_MOSI)
587
#define SPI5_GPIO_MOSI PAL_PAD(LINE_SPI5_MOSI)
588
#define SPI5_GPIO_PORT_SCK PAL_PORT(LINE_SPI5_SCK)
589
#define SPI5_GPIO_SCK PAL_PAD(LINE_SPI5_SCK)
590
591
#if defined(AF_LINE_SPI5_SCK)
592
#define SPI5_GPIO_AF AF_LINE_SPI5_SCK
593
#endif
594
#endif
595
596
#if defined(LINE_SPI6_MISO) && defined(LINE_SPI6_MOSI) && defined(LINE_SPI6_SCK)
597
#define SPI6_GPIO_PORT_MISO PAL_PORT(LINE_SPI6_MISO)
598
#define SPI6_GPIO_MISO PAL_PAD(LINE_SPI6_MISO)
599
#define SPI6_GPIO_PORT_MOSI PAL_PORT(LINE_SPI6_MOSI)
600
#define SPI6_GPIO_MOSI PAL_PAD(LINE_SPI6_MOSI)
601
#define SPI6_GPIO_PORT_SCK PAL_PORT(LINE_SPI6_SCK)
602
#define SPI6_GPIO_SCK PAL_PAD(LINE_SPI6_SCK)
603
604
#if defined(AF_LINE_SPI6_SCK)
605
#define SPI6_GPIO_AF AF_LINE_SPI6_SCK
606
#endif
607
#endif
608
612
#if defined(LINE_SPI_SLAVE0)
613
#define SPI_SELECT_SLAVE0_PORT PAL_PORT(LINE_SPI_SLAVE0)
614
#define SPI_SELECT_SLAVE0_PIN PAL_PAD(LINE_SPI_SLAVE0)
615
#endif
616
617
#if defined(LINE_SPI_SLAVE1)
618
#define SPI_SELECT_SLAVE1_PORT PAL_PORT(LINE_SPI_SLAVE1)
619
#define SPI_SELECT_SLAVE1_PIN PAL_PAD(LINE_SPI_SLAVE1)
620
#endif
621
622
#if defined(LINE_SPI_SLAVE2)
623
#define SPI_SELECT_SLAVE2_PORT PAL_PORT(LINE_SPI_SLAVE2)
624
#define SPI_SELECT_SLAVE2_PIN PAL_PAD(LINE_SPI_SLAVE2)
625
#endif
626
627
#if defined(LINE_SPI_SLAVE3)
628
#define SPI_SELECT_SLAVE3_PORT PAL_PORT(LINE_SPI_SLAVE3)
629
#define SPI_SELECT_SLAVE3_PIN PAL_PAD(LINE_SPI_SLAVE3)
630
#endif
631
632
#if defined(LINE_SPI_SLAVE4)
633
#define SPI_SELECT_SLAVE4_PORT PAL_PORT(LINE_SPI_SLAVE4)
634
#define SPI_SELECT_SLAVE4_PIN PAL_PAD(LINE_SPI_SLAVE4)
635
#endif
636
637
#if defined(LINE_SPI_SLAVE5)
638
#define SPI_SELECT_SLAVE5_PORT PAL_PORT(LINE_SPI_SLAVE5)
639
#define SPI_SELECT_SLAVE5_PIN PAL_PAD(LINE_SPI_SLAVE5)
640
#endif
641
642
#if defined(LINE_SPI_SLAVE6)
643
#define SPI_SELECT_SLAVE6_PORT PAL_PORT(LINE_SPI_SLAVE6)
644
#define SPI_SELECT_SLAVE6_PIN PAL_PAD(LINE_SPI_SLAVE6)
645
#endif
646
647
#if defined(LINE_SPI_SLAVE7)
648
#define SPI_SELECT_SLAVE7_PORT PAL_PORT(LINE_SPI_SLAVE7)
649
#define SPI_SELECT_SLAVE7_PIN PAL_PAD(LINE_SPI_SLAVE7)
650
#endif
651
652
#if defined(LINE_SPI_SLAVE8)
653
#define SPI_SELECT_SLAVE8_PORT PAL_PORT(LINE_SPI_SLAVE8)
654
#define SPI_SELECT_SLAVE8_PIN PAL_PAD(LINE_SPI_SLAVE8)
655
#endif
656
660
#if defined(LINE_SDIO_D0) && defined(LINE_SDIO_D1) && defined(LINE_SDIO_D2) && defined(LINE_SDIO_D3) && defined(LINE_SDIO_CK) && defined(LINE_SDIO_CMD)
661
#define SDIO_D0_PORT PAL_PORT(LINE_SDIO_D0)
662
#define SDIO_D0_PIN PAL_PAD(LINE_SDIO_D0)
663
#define SDIO_D1_PORT PAL_PORT(LINE_SDIO_D1)
664
#define SDIO_D1_PIN PAL_PAD(LINE_SDIO_D1)
665
#define SDIO_D2_PORT PAL_PORT(LINE_SDIO_D2)
666
#define SDIO_D2_PIN PAL_PAD(LINE_SDIO_D2)
667
#define SDIO_D3_PORT PAL_PORT(LINE_SDIO_D3)
668
#define SDIO_D3_PIN PAL_PAD(LINE_SDIO_D3)
669
#define SDIO_CK_PORT PAL_PORT(LINE_SDIO_CK)
670
#define SDIO_CK_PIN PAL_PAD(LINE_SDIO_CK)
671
#define SDIO_CMD_PORT PAL_PORT(LINE_SDIO_CMD)
672
#define SDIO_CMD_PIN PAL_PAD(LINE_SDIO_CMD)
673
674
#if defined(AF_LINE_SDIO_CMD)
675
#define SDIO_AF AF_LINE_SDIO_CMD
676
#else
677
#define SDIO_AF ((void)0)
678
#endif
679
#endif
680
681
#if defined(LINE_USB_VBUS)
682
#define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS)
683
#define SDLOG_USB_VBUS_PIN PAL_PAD(LINE_USB_VBUS)
684
#define SDLOG_USB_VBUS_BOOT false
685
#endif
686
687
/*
688
* Actuators for fixedwing
689
*/
690
/* Default actuators driver */
691
#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
692
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
693
#define ActuatorsDefaultInit() ActuatorsPwmInit()
694
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
695
696
#endif
/* ARCH_COMMON_BOARD_H */
sw
airborne
arch
chibios
common_board.h
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1.8.17